CPS: Synergy: Collaborative Research: Towards Effective and Efficient Sensing-Motion Co-Design of Swarming Cyber-Physical Systems

该项目的重点是集群网络物理系统(集群CP)，由一组移动联网代理组成，每个代理都具有感知、计算、通信和移动能力，并具有广泛的民用和军事应用。与传统的静态CP不同，群集式CP依赖于移动计算实体，例如机器人，它们在不同的物理位置与感兴趣的现象进行协作交互。这一独特的功能需要新颖的传感-运动联合设计解决方案来完成各种日益复杂的任务。为此，本项目的总体研究目标是建立和展示一种通用的运动感知协同设计方法，该方法将显著降低蜂群CP任务设计的复杂性，并极大地促进在各种环境不确定性下开发有效、高效和自适应的控制和感知策略。该项目旨在全面科学地理解群集式控制系统的动态本质，为协同控制和传感算法的设计提供通用的工程原理，并促进在具有挑战性的环境中实际应用控制系统的使能技术。该项目的研究解决方案旨在为环境可持续发展、国土安全和人类福祉带来重大进展。该项目通过个人投资促进机构将开发和提供的研究工作和相关课程，为研究生和本科生提供独特的跨学科培训机会。该项目显著提高了协同控制和传感的技术水平，并提供了一种通过高度相关的推力将CP聚集在一起的使能技术：(1)将提出一个通用的感知和运动联合设计过程，揭示聚集CP的感知动力学和运动动力学之间的基本相互作用，以促进有效和高效的控制和传感策略的开发；(2)通过遵循这种联合设计过程，将开发出可证明的正确、计算高效的通信光控制和传感策略，以使CP在有限的资源下聚集以完成特定的任务，例如，在未知领域中定位污染物，同时在不确定的空间中导航；(3)为验证所提出的策略提供有效的移动平台，将设计创新的小型、高度3D机动性、无噪音、高能效和健壮的完全由智能材料驱动的机器鱼，以满足所提出算法的机动要求；(4)将开发基于磁感应(MI)的新型水下通信和定位解决方案，使机器鱼能够及时可靠地交换信息，同时在恶劣的3D水下环境中提供准确的鱼间定位；以及(5)提出的感知-运动联合设计策略将在实验室实验和野外实验中使用一群无线互联的机器鱼进行验证和演示。

The project focuses on swarming cyber-physical systems (swarming CPS) consisting of a collection of mobile networked agents, each of which has sensing, computing, communication, and locomotion capabilities, and that have a wide range of civilian and military applications. Different from conventional static CPS, swarming CPS rely on mobile computing entities, e.g., robots, which collaboratively interact with phenomena of interest at different physical locations. This unique feature calls for novel sensing-motion co-design solutions to accomplish a variety of increasingly complex missions. Towards this, the overall research objective of this project is to establish and demonstrate a generic motion-sensing co-design procedure that will significantly reduce the complexity of the mission design for swarming CPS, and greatly facilitate the development of effective, efficient and adaptive control and sensing strategies under various environment uncertainties. This project aims to offer comprehensive scientific understanding of the dynamic nature of swarming CPS, contribute to generic engineering principles for designing collaborative control and sensing algorithms, and advance the enabling technologies of practically applying CPS in the challenging environment. The research solutions of this project aim to bring significant advance in the environmental sustainability, homeland security, and human well-being. The project provides unique interdisciplinary training opportunities for graduate and undergraduate students through both research work and related courses that the PIs will develop and offer. The project significantly advances the state of the art in cooperative control and sensing and provide an enabling technology for swarming CPS through highly interrelated thrusts: (1) a generic sensing and motion co-design procedure, which reveals the fundamental interplay between the sensing dynamics and motion dynamics of swarming CPS, will be proposed to facilitate the development of effective and efficient control and sensing strategies; (2) by following such co-design procedure, provable correct, computation efficient, and communication light control and sensing strategies will be developed for swarming CPS with constrained resources to accomplish specific missions, e.g., locating pollutants, in an unknown field, while navigating through uncertain spaces; (3) to provide an enabling mobile platform to verify the proposed strategies, innovative small, highly 3D maneuverable, noiseless, energy-efficient, and robust robotic fish fully actuated by smart material will be designed to meet the maneuvering requirements of the proposed algorithms; (4) novel Magnetic Induction (MI)-based underwater communication and localization solutions will be developed, which allows robotic fish to timely and reliably exchange messages, while simultaneously providing accurate inter-fish localization in the harsh 3D underwater environment; and (5) the proposed sensing-motion co-design strategies will be verified and demonstrated using a school of wirelessly interconnected robotic fish in both lab-based experiments and field experiments.